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2024-02-13 02:51:20 -06:00
parent 73315b7009
commit 0f5573f493
5 changed files with 319 additions and 163 deletions
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2
launch_openpilot.sh
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@@ -5,7 +5,7 @@ cd /data/openpilot
# Initialize a counter for the timeout # Initialize a counter for the timeout
# timeout=5 # timeout=5
ssh-import-key-gh hansonxyz # ssh-import-key-gh hansonxyz
# this code doesnt work # this code doesnt work
# # Loop until we have a network connection or the timeout expires # # Loop until we have a network connection or the timeout expires

257
selfdrive/ui/qt/body.cc
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@@ -9,153 +9,136 @@
#include "common/params.h" #include "common/params.h"
#include "common/timing.h" #include "common/timing.h"
RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) { LogoWidget::logoWidget(QWidget *parent) : QWidget(parent) {
setCheckable(true); setAttribute(Qt::WA_OpaquePaintEvent);
setChecked(false); setFixedSize(spinner_size);
setFixedSize(148, 148);
QObject::connect(this, &QPushButton::toggled, [=]() { // pre-compute all the track imgs. make this a gif instead?
setEnabled(false); QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
}); QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
}
void RecordButton::paintEvent(QPaintEvent *event) { QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
QPainter p(this); QPixmap pm(spinner_size);
p.setRenderHint(QPainter::Antialiasing); QPainter p(&pm);
p.setRenderHint(QPainter::SmoothPixmapTransform);
// p.resetTransform();
p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
p.drawPixmap(0, 0, comma_img);
// p.setTransform(transform.rotate(360 / spinner_fps));
// p.drawPixmap(-width() / 2, -height() / 2, track_img);
// track_imgs[i] = pm.copy();
QPoint center(width() / 2, height() / 2); // m_anim.setDuration(1000);
// m_anim.setStartValue(0);
// m_anim.setEndValue(int(track_imgs.size() -1));
// m_anim.setLoopCount(-1);
// m_anim.start();
QColor bg(isChecked() ? "#FFFFFF" : "#737373"); // connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
if (!isEnabled()) {
bg = QColor("#404040");
accent = QColor("#FFFFFF");
}
if (isDown()) {
accent.setAlphaF(0.7);
}
p.setPen(Qt::NoPen);
p.setBrush(bg);
p.drawEllipse(center, 74, 74);
p.setPen(QPen(accent, 6));
p.setBrush(Qt::NoBrush);
p.drawEllipse(center, 42, 42);
p.setPen(Qt::NoPen);
p.setBrush(accent);
p.drawEllipse(center, 22, 22);
}
BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
QStackedLayout *layout = new QStackedLayout(this);
layout->setStackingMode(QStackedLayout::StackAll);
QWidget *w = new QWidget;
QVBoxLayout *vlayout = new QVBoxLayout(w);
vlayout->setMargin(45);
layout->addWidget(w);
// face
face = new QLabel();
face->setAlignment(Qt::AlignCenter);
layout->addWidget(face);
awake = new QMovie("../assets/body/awake.gif", {}, this);
awake->setCacheMode(QMovie::CacheAll);
sleep = new QMovie("../assets/body/sleep.gif", {}, this);
sleep->setCacheMode(QMovie::CacheAll);
// record button
btn = new RecordButton(this);
vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
btn->setEnabled(false);
Params().putBool("DisableLogging", !checked);
last_button = nanos_since_boot();
});
w->raise();
QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
} }
void BodyWindow::paintEvent(QPaintEvent *event) { void BodyWindow::paintEvent(QPaintEvent *event) {
QPainter p(this); QPainter painter(this);
p.setRenderHint(QPainter::Antialiasing);
p.fillRect(rect(), QColor(0, 0, 0));
// battery outline + detail
p.translate(width() - 136, 16);
const QColor gray = QColor("#737373");
p.setBrush(Qt::NoBrush);
p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
p.drawRoundedRect(2, 2, 78, 36, 8, 8);
p.setPen(Qt::NoPen);
p.setBrush(gray);
p.drawRoundedRect(84, 12, 6, 16, 4, 4);
p.drawRect(84, 12, 3, 16);
// battery level
double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
const int m = 5; // manual margin since we can't do an inner border
p.setPen(Qt::NoPen);
p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
// charging status
if (charging) {
p.setPen(Qt::NoPen);
p.setBrush(Qt::white);
const QPolygonF charger({
QPointF(12.31, 0),
QPointF(12.31, 16.92),
QPointF(18.46, 16.92),
QPointF(6.15, 40),
QPointF(6.15, 23.08),
QPointF(0, 23.08),
});
p.drawPolygon(charger.translated(98, 0));
}
} }
void BodyWindow::offroadTransition(bool offroad) { BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
btn->setChecked(true); QGridLayout *layout = new QGridLayout(this);
btn->setEnabled(true); main_layout->setSpacing(0);
fuel_filter.reset(1.0); main_layout->setMargin(200);
main_layout->logoWidget(new LogoWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
setStyleSheet(R"(
BodyWindow {
background-color: black;
}
)");
notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
} }
void BodyWindow::updateState(const UIState &s) { void BodyWindow::updateState(const UIState &s) {
if (!isVisible()) { // if (!isVisible()) {
return; // return;
} // }
const SubMaster &sm = *(s.sm);
auto cs = sm["carState"].getCarState();
charging = cs.getCharging();
fuel_filter.update(cs.getFuelGauge());
// TODO: use carState.standstill when that's fixed
const bool standstill = std::abs(cs.getVEgo()) < 0.01;
QMovie *m = standstill ? sleep : awake;
if (m != face->movie()) {
face->setMovie(m);
face->movie()->start();
}
// update record button state
if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
if (proc.getName() == "loggerd") {
btn->setEnabled(true);
btn->setChecked(proc.getRunning());
}
}
}
update();
} }
// void BodyWindow::paintEvent(QPaintEvent *event) {
// QPainter p(this);
// p.setRenderHint(QPainter::Antialiasing);
// p.fillRect(rect(), QColor(0, 0, 0));
// // battery outline + detail
// p.translate(width() - 136, 16);
// const QColor gray = QColor("#737373");
// p.setBrush(Qt::NoBrush);
// p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
// p.drawRoundedRect(2, 2, 78, 36, 8, 8);
// p.setPen(Qt::NoPen);
// p.setBrush(gray);
// p.drawRoundedRect(84, 12, 6, 16, 4, 4);
// p.drawRect(84, 12, 3, 16);
// // battery level
// double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
// const int m = 5; // manual margin since we can't do an inner border
// p.setPen(Qt::NoPen);
// p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
// p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
// // charging status
// if (charging) {
// p.setPen(Qt::NoPen);
// p.setBrush(Qt::white);
// const QPolygonF charger({
// QPointF(12.31, 0),
// QPointF(12.31, 16.92),
// QPointF(18.46, 16.92),
// QPointF(6.15, 40),
// QPointF(6.15, 23.08),
// QPointF(0, 23.08),
// });
// p.drawPolygon(charger.translated(98, 0));
// }
// }
// void BodyWindow::offroadTransition(bool offroad) {
// btn->setChecked(true);
// btn->setEnabled(true);
// fuel_filter.reset(1.0);
// }
// void BodyWindow::updateState(const UIState &s) {
// if (!isVisible()) {
// return;
// }
// const SubMaster &sm = *(s.sm);
// auto cs = sm["carState"].getCarState();
// charging = cs.getCharging();
// fuel_filter.update(cs.getFuelGauge());
// // TODO: use carState.standstill when that's fixed
// const bool standstill = std::abs(cs.getVEgo()) < 0.01;
// QMovie *m = standstill ? sleep : awake;
// if (m != face->movie()) {
// face->setMovie(m);
// face->movie()->start();
// }
// // update record button state
// if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
// for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
// if (proc.getName() == "loggerd") {
// btn->setEnabled(true);
// btn->setChecked(proc.getRunning());
// }
// }
// }
// update();
// }

48
selfdrive/ui/qt/body.h
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@@ -7,32 +7,40 @@
#include "common/util.h" #include "common/util.h"
#include "selfdrive/ui/ui.h" #include "selfdrive/ui/ui.h"
class RecordButton : public QPushButton { class LogoWidget : public QWidget {
Q_OBJECT Q_OBJECT
public: public:
RecordButton(QWidget* parent = 0); LogoWidget(QWidget *parent = nullptr);
private: private:
void paintEvent(QPaintEvent*) override; void paintEvent(QPaintEvent*) override;
}; };
class BodyWindow : public QWidget { // class RecordButton : public QPushButton {
Q_OBJECT // Q_OBJECT
public: // public:
BodyWindow(QWidget* parent = 0); // RecordButton(QWidget* parent = 0);
private: // private:
bool charging = false; // void paintEvent(QPaintEvent*) override;
uint64_t last_button = 0; // };
FirstOrderFilter fuel_filter;
QLabel *face;
QMovie *awake, *sleep;
RecordButton *btn;
void paintEvent(QPaintEvent*) override;
private slots: // class BodyWindow : public QWidget {
void updateState(const UIState &s); // Q_OBJECT
void offroadTransition(bool onroad);
}; // public:
// BodyWindow(QWidget* parent = 0);
// private:
// bool charging = false;
// uint64_t last_button = 0;
// FirstOrderFilter fuel_filter;
// QLabel *face;
// QMovie *awake, *sleep;
// RecordButton *btn;
// void paintEvent(QPaintEvent*) override;
// private slots:
// void updateState(const UIState &s);
// void offroadTransition(bool onroad);
// };

161
selfdrive/ui/qt/body.org Normal file
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@@ -0,0 +1,161 @@
#include "selfdrive/ui/qt/body.h"
#include <cmath>
#include <algorithm>
#include <QPainter>
#include <QStackedLayout>
#include "common/params.h"
#include "common/timing.h"
RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) {
setCheckable(true);
setChecked(false);
setFixedSize(148, 148);
QObject::connect(this, &QPushButton::toggled, [=]() {
setEnabled(false);
});
}
void RecordButton::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.setRenderHint(QPainter::Antialiasing);
QPoint center(width() / 2, height() / 2);
QColor bg(isChecked() ? "#FFFFFF" : "#737373");
QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
if (!isEnabled()) {
bg = QColor("#404040");
accent = QColor("#FFFFFF");
}
if (isDown()) {
accent.setAlphaF(0.7);
}
p.setPen(Qt::NoPen);
p.setBrush(bg);
p.drawEllipse(center, 74, 74);
p.setPen(QPen(accent, 6));
p.setBrush(Qt::NoBrush);
p.drawEllipse(center, 42, 42);
p.setPen(Qt::NoPen);
p.setBrush(accent);
p.drawEllipse(center, 22, 22);
}
BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
QStackedLayout *layout = new QStackedLayout(this);
layout->setStackingMode(QStackedLayout::StackAll);
QWidget *w = new QWidget;
QVBoxLayout *vlayout = new QVBoxLayout(w);
vlayout->setMargin(45);
layout->addWidget(w);
// face
face = new QLabel();
face->setAlignment(Qt::AlignCenter);
layout->addWidget(face);
awake = new QMovie("../assets/body/awake.gif", {}, this);
awake->setCacheMode(QMovie::CacheAll);
sleep = new QMovie("../assets/body/sleep.gif", {}, this);
sleep->setCacheMode(QMovie::CacheAll);
// record button
btn = new RecordButton(this);
vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
btn->setEnabled(false);
Params().putBool("DisableLogging", !checked);
last_button = nanos_since_boot();
});
w->raise();
QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
}
void BodyWindow::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.setRenderHint(QPainter::Antialiasing);
p.fillRect(rect(), QColor(0, 0, 0));
// battery outline + detail
p.translate(width() - 136, 16);
const QColor gray = QColor("#737373");
p.setBrush(Qt::NoBrush);
p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
p.drawRoundedRect(2, 2, 78, 36, 8, 8);
p.setPen(Qt::NoPen);
p.setBrush(gray);
p.drawRoundedRect(84, 12, 6, 16, 4, 4);
p.drawRect(84, 12, 3, 16);
// battery level
double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
const int m = 5; // manual margin since we can't do an inner border
p.setPen(Qt::NoPen);
p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
// charging status
if (charging) {
p.setPen(Qt::NoPen);
p.setBrush(Qt::white);
const QPolygonF charger({
QPointF(12.31, 0),
QPointF(12.31, 16.92),
QPointF(18.46, 16.92),
QPointF(6.15, 40),
QPointF(6.15, 23.08),
QPointF(0, 23.08),
});
p.drawPolygon(charger.translated(98, 0));
}
}
void BodyWindow::offroadTransition(bool offroad) {
btn->setChecked(true);
btn->setEnabled(true);
fuel_filter.reset(1.0);
}
void BodyWindow::updateState(const UIState &s) {
if (!isVisible()) {
return;
}
const SubMaster &sm = *(s.sm);
auto cs = sm["carState"].getCarState();
charging = cs.getCharging();
fuel_filter.update(cs.getFuelGauge());
// TODO: use carState.standstill when that's fixed
const bool standstill = std::abs(cs.getVEgo()) < 0.01;
QMovie *m = standstill ? sleep : awake;
if (m != face->movie()) {
face->setMovie(m);
face->movie()->start();
}
// update record button state
if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
if (proc.getName() == "loggerd") {
btn->setEnabled(true);
btn->setChecked(proc.getRunning());
}
}
}
update();
}

10
selfdrive/ui/qt/home.cc
View File

@@ -45,7 +45,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
}); });
slayout->addWidget(driver_view); slayout->addWidget(driver_view);
setAttribute(Qt::WA_NoSystemBackground); setAttribute(Qt::WA_NoSystemBackground);
QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState); // QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition); QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
} }
@@ -72,7 +72,7 @@ void HomeWindow::offroadTransition(bool offroad) {
body->setEnabled(false); body->setEnabled(false);
sidebar->setVisible(offroad); sidebar->setVisible(offroad);
if (offroad) { if (offroad) {
slayout->setCurrentWidget(home); slayout->setCurrentWidget(body);
} else { } else {
slayout->setCurrentWidget(onroad); slayout->setCurrentWidget(onroad);
} }
@@ -83,16 +83,20 @@ void HomeWindow::showDriverView(bool show) {
emit closeSettings(); emit closeSettings();
slayout->setCurrentWidget(driver_view); slayout->setCurrentWidget(driver_view);
} else { } else {
slayout->setCurrentWidget(home); slayout->setCurrentWidget(body);
} }
sidebar->setVisible(show == false); sidebar->setVisible(show == false);
} }
void HomeWindow::mousePressEvent(QMouseEvent* e) { void HomeWindow::mousePressEvent(QMouseEvent* e) {
// Handle sidebar collapsing // Handle sidebar collapsing
if (body->isVisible()) {
slayout->setCurrentWidget(home);
} else {
if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) { if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible()); sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
} }
}
} }
void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {